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<div class="title">RobotController.h</div>  </div>
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<a href="../../d3/dff/_robot_controller_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef ROBOT_CONTROLLER_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define ROBOT_CONTROLLER_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d41/_leg_controller_8h.html">Controllers/LegController.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d9a/_floating_base_model_8h.html">Dynamics/FloatingBaseModel.h</a>&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d8/d87/_state_estimator_container_8h.html">Controllers/StateEstimatorContainer.h</a>&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../df/d0d/_visualization_data_8h.html">SimUtilities/VisualizationData.h</a>&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d7/d24/_gamepad_command_8h.html">SimUtilities/GamepadCommand.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html">   10</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d4/d6a/class_robot_controller.html">RobotController</a>{</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a96e7a11d59a22a4277fb9b05c12cb480">   11</a></span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="../../d9/d42/class_robot_runner.html">RobotRunner</a>;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a1b3379c8c3350b2130f30c8bd23cba33">   13</a></span>&#160;  <a class="code" href="../../d4/d6a/class_robot_controller.html#a1b3379c8c3350b2130f30c8bd23cba33">RobotController</a>(){}</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#acb2d0125410b1ad0a96bb8728ac0f245">   14</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="../../d4/d6a/class_robot_controller.html#acb2d0125410b1ad0a96bb8728ac0f245">~RobotController</a>(){}</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d4/d6a/class_robot_controller.html#a4eef800145cb801ea6296630119b4a65">initializeController</a>() = 0;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d4/d6a/class_robot_controller.html#a5242fbdd2532b1581ac45829be9688c9">runController</a>() = 0;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="../../d4/d6a/class_robot_controller.html#a851e8f5aedb72a736cbaddb3dba3c5c2">updateVisualization</a>() = 0;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="../../d8/d86/class_control_parameters.html">ControlParameters</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#a4f978bdc5c1e5c868ca578f1061489e7">getUserControlParameters</a>() = 0;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#aacb14b1859bd16e29ec3c4d37aa7c846">   25</a></span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;float&gt;</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#aacb14b1859bd16e29ec3c4d37aa7c846">_quadruped</a>;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#aaf59367872dc62cd652dad3ff9bf8b5b">   26</a></span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;float&gt;</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#aaf59367872dc62cd652dad3ff9bf8b5b">_model</a>;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#aa13c93906f5c951a25d9f24e1e7110f9">   27</a></span>&#160;  <a class="code" href="../../d0/d96/class_leg_controller.html">LegController&lt;float&gt;</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#aa13c93906f5c951a25d9f24e1e7110f9">_legController</a>;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a8f78c57d16d7a15b89cc5ac88a274045">   28</a></span>&#160;  <a class="code" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer&lt;float&gt;</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#a8f78c57d16d7a15b89cc5ac88a274045">_stateEstimator</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#ab3f789d8a20556dec8dadc5c8f73867c">   29</a></span>&#160;  <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;float&gt;</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#ab3f789d8a20556dec8dadc5c8f73867c">_stateEstimate</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a623cc55a06ed7a2678822b577acf550e">   30</a></span>&#160;  <a class="code" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#a623cc55a06ed7a2678822b577acf550e">_driverCommand</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a3db3696aa7d0d0ced56dced76a7dec75">   31</a></span>&#160;  <a class="code" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#a3db3696aa7d0d0ced56dced76a7dec75">_controlParameters</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a69b6efc95fa6bd1c3a5434c444cd032d">   33</a></span>&#160;  <a class="code" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a>* <a class="code" href="../../d4/d6a/class_robot_controller.html#a69b6efc95fa6bd1c3a5434c444cd032d">_visualizationData</a>;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d4/d6a/class_robot_controller.html#a60985529bde4f5c99ed71d2e87f01ed2">   34</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> <a class="code" href="../../d4/d6a/class_robot_controller.html#a60985529bde4f5c99ed71d2e87f01ed2">_robotType</a>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;};</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="class_robot_runner_html"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html">RobotRunner</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00030">RobotRunner.h:30</a></div></div>
<div class="ttc" id="class_robot_controller_html_a69b6efc95fa6bd1c3a5434c444cd032d"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a69b6efc95fa6bd1c3a5434c444cd032d">RobotController::_visualizationData</a></div><div class="ttdeci">VisualizationData * _visualizationData</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00033">RobotController.h:33</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_controller_html_aa13c93906f5c951a25d9f24e1e7110f9"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#aa13c93906f5c951a25d9f24e1e7110f9">RobotController::_legController</a></div><div class="ttdeci">LegController&lt; float &gt; * _legController</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00027">RobotController.h:27</a></div></div>
<div class="ttc" id="class_control_parameters_html"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html">ControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00391">ControlParameters.h:391</a></div></div>
<div class="ttc" id="class_robot_controller_html_acb2d0125410b1ad0a96bb8728ac0f245"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#acb2d0125410b1ad0a96bb8728ac0f245">RobotController::~RobotController</a></div><div class="ttdeci">virtual ~RobotController()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00014">RobotController.h:14</a></div></div>
<div class="ttc" id="class_robot_controller_html"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html">RobotController</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00010">RobotController.h:10</a></div></div>
<div class="ttc" id="class_robot_control_parameters_html"><div class="ttname"><a href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d53/_robot_parameters_8h_source.html#l00012">RobotParameters.h:12</a></div></div>
<div class="ttc" id="struct_visualization_data_html"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html">VisualizationData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00060">VisualizationData.h:60</a></div></div>
<div class="ttc" id="struct_gamepad_command_html"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00012">GamepadCommand.h:12</a></div></div>
<div class="ttc" id="class_leg_controller_html"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html">LegController&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_controller_html_a5242fbdd2532b1581ac45829be9688c9"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a5242fbdd2532b1581ac45829be9688c9">RobotController::runController</a></div><div class="ttdeci">virtual void runController()=0</div></div>
<div class="ttc" id="class_robot_controller_html_ab3f789d8a20556dec8dadc5c8f73867c"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#ab3f789d8a20556dec8dadc5c8f73867c">RobotController::_stateEstimate</a></div><div class="ttdeci">StateEstimate&lt; float &gt; * _stateEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00029">RobotController.h:29</a></div></div>
<div class="ttc" id="class_robot_controller_html_a623cc55a06ed7a2678822b577acf550e"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a623cc55a06ed7a2678822b577acf550e">RobotController::_driverCommand</a></div><div class="ttdeci">GamepadCommand * _driverCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00030">RobotController.h:30</a></div></div>
<div class="ttc" id="class_robot_controller_html_a3db3696aa7d0d0ced56dced76a7dec75"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a3db3696aa7d0d0ced56dced76a7dec75">RobotController::_controlParameters</a></div><div class="ttdeci">RobotControlParameters * _controlParameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00031">RobotController.h:31</a></div></div>
<div class="ttc" id="class_robot_controller_html_a851e8f5aedb72a736cbaddb3dba3c5c2"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a851e8f5aedb72a736cbaddb3dba3c5c2">RobotController::updateVisualization</a></div><div class="ttdeci">virtual void updateVisualization()=0</div></div>
<div class="ttc" id="class_robot_controller_html_a8f78c57d16d7a15b89cc5ac88a274045"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a8f78c57d16d7a15b89cc5ac88a274045">RobotController::_stateEstimator</a></div><div class="ttdeci">StateEstimatorContainer&lt; float &gt; * _stateEstimator</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00028">RobotController.h:28</a></div></div>
<div class="ttc" id="class_state_estimator_container_html"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_controller_html_a1b3379c8c3350b2130f30c8bd23cba33"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a1b3379c8c3350b2130f30c8bd23cba33">RobotController::RobotController</a></div><div class="ttdeci">RobotController()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00013">RobotController.h:13</a></div></div>
<div class="ttc" id="class_robot_controller_html_aaf59367872dc62cd652dad3ff9bf8b5b"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#aaf59367872dc62cd652dad3ff9bf8b5b">RobotController::_model</a></div><div class="ttdeci">FloatingBaseModel&lt; float &gt; * _model</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00026">RobotController.h:26</a></div></div>
<div class="ttc" id="_leg_controller_8h_html"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html">LegController.h</a></div><div class="ttdoc">Common Leg Control Interface and Leg Control Algorithms. </div></div>
<div class="ttc" id="class_robot_controller_html_a60985529bde4f5c99ed71d2e87f01ed2"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a60985529bde4f5c99ed71d2e87f01ed2">RobotController::_robotType</a></div><div class="ttdeci">RobotType _robotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00034">RobotController.h:34</a></div></div>
<div class="ttc" id="class_robot_controller_html_a4f978bdc5c1e5c868ca578f1061489e7"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a4f978bdc5c1e5c868ca578f1061489e7">RobotController::getUserControlParameters</a></div><div class="ttdeci">virtual ControlParameters * getUserControlParameters()=0</div></div>
<div class="ttc" id="_gamepad_command_8h_html"><div class="ttname"><a href="../../d7/d24/_gamepad_command_8h.html">GamepadCommand.h</a></div><div class="ttdoc">The GamepadCommand type containing joystick information. </div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt; float &gt;</a></div></div>
<div class="ttc" id="_state_estimator_container_8h_html"><div class="ttname"><a href="../../d8/d87/_state_estimator_container_8h.html">StateEstimatorContainer.h</a></div></div>
<div class="ttc" id="struct_state_estimate_html"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt; float &gt;</a></div></div>
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<div class="ttc" id="class_robot_controller_html_aacb14b1859bd16e29ec3c4d37aa7c846"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#aacb14b1859bd16e29ec3c4d37aa7c846">RobotController::_quadruped</a></div><div class="ttdeci">Quadruped&lt; float &gt; * _quadruped</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00025">RobotController.h:25</a></div></div>
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